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The pneumatic artificial muscle (PAM) is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as rubber actuator and PAM manipulators because it provides these advantages such as high strength and high power/ weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and(More)
Shape memory alloy (SMA) actuators, which have ability to return to a predetermined shape when heated, have many potential applications in aeronautics, surgical tools, robotics and so on. Although the number of applications is increasing, there has been limited success in precise motion control since the systems are disturbed by unknown factors beside their(More)
In this paper, the application of modified genetic algorithms (MGA) in the parameterization of the 2-link pneumatic artificial muscle (PAM) manipulator is investigated. The optimum search technique, MGA-based ID method, is used to identify the parameters of the prototype 2-link pneumatic artificial muscle (PAM) manipulator described by an ARX model in the(More)
Keywords: Shape memory alloy actuator Hysteresis compensation Sliding mode control Time delay estimation Tracking control of SMA a b s t r a c t This paper focuses on a simple and robust tracking control method based on a hyperbolic tangential sliding mode control (SMC) and time delay estimation (TDE) for a shape memory alloy (SMA) actuator. The TDE is used(More)
This paper investigates a possible application of Preisach model to control Shape Memory Alloy (SMA) actuators using an internal model control strategy. The developed strategy consists in including the Preisach hysteresis model of SMA actuator and the inverse Preisach model within the control structure. In this work, an extrema input hystory and a fuzzy(More)
Hydraulic systems play an important role in modern industry for the reason that hydraulic actuator systems take many advantages over other technologies. Therefore, hydraulic actuator has a wide range of application fields where controlled forces or pressures with high accuracy and fast response is the most significant demand. However, disturbances in the(More)
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear autoregressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM(More)